Speed limiting for a balancing transporter accounting for variations in system capability

a technology of system capability and speed limit, applied in the direction of wheelchairs/patient conveyances, process and machine control, electric devices, etc., can solve the problem of limited operation of motorized drive arrangements, and achieve the effect of limiting the speed of a transporter and maintaining balan

Inactive Publication Date: 2005-03-22
SEGWAY INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

In an embodiment of the present invention, a method is provided for estimating an instantaneous capability of one or more batteries. Each battery is characterized by an open circuit voltage and an internal resistance. The method includes measuring battery parameters including a voltage value and a current value; repeating measurements to obtain successive values of the battery parameters; and filtering the successive values of the battery parameters to estimate the instantaneous capability of the battery. The estimate of instantaneous capability for the battery may be used advantageously for limiting the speed of a transporter to maintain balance.

Problems solved by technology

Finally, operation of the motorized drive arrangement is limited to preclude extended operation of the transporter at a speed exceeding the intervention locus.

Method used

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  • Speed limiting for a balancing transporter accounting for variations in system capability
  • Speed limiting for a balancing transporter accounting for variations in system capability
  • Speed limiting for a balancing transporter accounting for variations in system capability

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Embodiment Construction

The subject matter of this application is related to U.S. Pat. Nos. 5,701,965; 5,971,091; 5,791,425; 6,302,230 and U.S. patent application Ser. No. 09 / 687,789, “Transporter Improvements,” filed Oct. 13, 2000, which are all incorporated herein by reference in their entirety. The subject matter of this application is also related to the following U.S. provisional patent applications: “Gain Scheduling in Control of a Balancing Transporter,” Ser. No. 60 / 388,723, and “Method and Device for Battery Charge Equalization,”; Ser. No. 60 / 388,986, each filed on Jun. 14, 2002, each of which is incorporated herein by reference in its entirety.

An alternative to operation of a statically stable transporter is that dynamic stability may be maintained by action of the user, as in the case of a bicycle or motorcycle or scooter, or, in accordance with embodiments of the present invention, by a control loop, as in the case of the human transporter described in U.S. Pat. No. 5,701,965. The invention may ...

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Abstract

A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided for determining the maximum operating speed of the transporter from measurement of battery parameters and transporter motor current and for limiting the speed of the transporter to maintain stability based on various sets of operationally imposed margins.

Description

TECHNICAL FIELD AND BACKGROUND ARTThe present invention pertains to transporters and methods for transporting individuals, and more particularly to balancing transporters and methods for transporting individuals over ground having a surface that may be irregular.A wide range of transporters and methods are known for transporting human subjects. Typically, such transporters rely upon static stability, being designed so as to be stable under all foreseen conditions of placement of their ground-contacting members. Thus, for example, the gravity vector acting on the center of gravity of an automobile passes between the points of ground contact of the automobile's wheels, the suspension keeping all wheels on the ground at all times, and the automobile is thus stable. Stable vehicles need not be precluded for reasons of stability from attaining their maximum operating speed.Another type of transporter is a dynamically stabilized transporter, also known as a balancing transporter. Such tra...

Claims

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Application Information

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Patent Type & Authority Patents(United States)
IPC IPC(8): A61G5/14A61G5/04A61G5/06A61G5/00B60L11/18B60L15/20B62D57/00B62M23/02B62K17/00B62K3/00A61G5/10A61G5/12B60K7/00B62K1/00B62M7/00
CPCA63C17/12B60L11/1851B60L15/2045B62K1/00B62K3/007B62K17/00B62D57/00A61G5/065B60K7/00B60L2200/16Y02T10/705B62K2202/00Y02T10/7005Y02T10/7283B60L2220/46B60L2240/12B60L2240/18B60L2240/20B60L2260/34B62K11/007B60L58/10Y02T10/64Y02T10/70Y02T10/72
Inventor MORRELL, JOHN B.ROBINSON, DAVID W.
Owner SEGWAY INC
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